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Vehicle trajectory optimization is essential to ensure vehicles travel efficiently and safely. This paper presents an infrastructure assisted constrained connected automated vehicles (CAVs) trajectory optimization method on curved roads.…
In this paper, we present a hierarchical framework that integrates upper-level routing with low-level optimal trajectory planning for connected and automated vehicles (CAVs) traveling in an urban network. The upper-level controller…
Controlling connected automated vehicles (CAVs) via vehicle-to-everything (V2X) connectivity holds significant promise for improving fuel economy and traffic efficiency. However, to deploy CAVs and reap their benefits, their controllers…
The main objective of the connected and automated vehicle (CAV) platoon control problem is to regulate CAVs' position while ensuring stability and accounting for vehicle dynamics. Although this problem has been studied in the literature,…
Deep reinforcement learning has shown promise in various engineering applications, including vehicular traffic control. The non-stationary nature of traffic, especially in the lane-free environment with more degrees of freedom in vehicle…
This paper proposes a controller for safe lane change manoeuvres of autonomous vehicles using high-order control barrier and Lyapunov functions. The inputs are calculated using a quadratic program (CLF-CBF-QP) which admits short calculation…
Connected automated vehicles (CAVs) have shown great potential in improving traffic throughput and stability. Although various longitudinal control strategies have been developed for CAVs to achieve string stability in mixed-autonomy…
Multi-vehicle coordinated decision making and control can improve traffic efficiency while guaranteeing driving safety. Formation control is a typical multi-vehicle coordination method in the multi-lane scenario. Among the existing…
An important question for the practical applicability of the highly efficient traffic intersection control is about the minimal level of intelligence the vehicles need to have so as to move beyond the traffic light control. We propose an…
Connected autonomous vehicles (CAVs) can supplement the information from their own sensors with information from surrounding CAVs for decision making and control. This has the potential to improve traffic efficiency. CAVs face additional…
Freeway on-ramps are typical bottlenecks in the freeway network due to the frequent disturbances caused by their associated merging, weaving, and lane-changing behaviors. With real-time communication and precise motion control, Connected…
In this paper, we investigate cooperative vehicle coordination for connected and automated vehicles (CAVs) at unsignalized intersections. To support high traffic throughput while reducing computational complexity, we present a novel…
In a mixed traffic with connected automated vehicles (CAVs) and human-driven vehicles (HDVs) coexisting, data-driven predictive control of CAVs promises system-wide traffic performance improvements. Yet, most existing approaches focus on a…
Coordination of connected and automated vehicles (CAVs) in a mixed traffic environment poses significant challenges due to the presence of human-driven vehicles (HDVs) with stochastic dynamics and driving behavior. In earlier work, we…
In this paper, a self-triggered scheme is proposed to optimally control the traffic flow of Connected and Automated Vehicles (CAVs) at conflict areas of a traffic network with the main aim of reducing the data exchange among CAVs in the…
This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct…
Connected automated vehicles (CAV), which incorporate vehicle-to-vehicle (V2V) communication into their motion planning, are expected to provide a wide range of benefits for individual and overall traffic flow. A frequent constraint or…
The erratic nature of human driving tends to trigger undesired waves that amplify as successive driver reactions propagate from the errant vehicle to vehicles upstream. Known as phantom jams, this phenomenon has been identified in the…
A path-planning algorithm for connected and non-connected automated road vehicles on multilane motorways is derived from the opportune formulation of an optimal control problem. In this framework, the objective function to be minimized…
Connected automated vehicles (CAVs) have brought new opportunities to improve traffic throughput and reduce energy consumption. However, the uncertain lane-change behaviors (LCBs) of surrounding vehicles (SVs) as an uncontrollable factor…